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<p>Test orientation functions.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../d4/dfb/orientation__tools_8h_source.html">Math/orientation_tools.h</a>&quot;</code><br />
<code>#include &quot;gmock/gmock.h&quot;</code><br />
<code>#include &quot;gtest/gtest.h&quot;</code><br />
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Test orientation functions. </p>
<p>Test the orientation related functions in <a class="el" href="../../d4/dfb/orientation__tools_8h.html" title="Utility functions for 3D rotations. ">orientation_tools.h</a> Does not check any spatial stuff </p>

<p>Definition in file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
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          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">rad2deg&#160;</td>
          <td class="paramname">&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Check radians to degrees </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00017">17</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00048">ori::deg2rad()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00038">ori::rad2deg()</a>.</p>
<div class="fragment"><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                           {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  EXPECT_EQ(M_PI / 4., <a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(45.));</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  EXPECT_EQ(45, <a class="code" href="../../da/d9b/namespaceori.html#ab66b0f13a5bbe6887c815cc1f97b6a13">rad2deg</a>(M_PI / 4.));</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;}</div><div class="ttc" id="namespaceori_html_ab66b0f13a5bbe6887c815cc1f97b6a13"><div class="ttname"><a href="../../da/d9b/namespaceori.html#ab66b0f13a5bbe6887c815cc1f97b6a13">ori::rad2deg</a></div><div class="ttdeci">T rad2deg(T rad)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00038">orientation_tools.h:38</a></div></div>
<div class="ttc" id="namespaceori_html_abb3365c40bad692ba94734339d8c9df9"><div class="ttname"><a href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">ori::deg2rad</a></div><div class="ttdeci">T deg2rad(T deg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00048">orientation_tools.h:48</a></div></div>
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          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>&#160;</td>
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<p>Check the "almostEqual" function for comparing two eigen quantities </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00025">25</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>.</p>
<div class="fragment"><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                               {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// check matrix &quot;almostEqual&quot; function</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> a, b;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  a &lt;&lt; 1, 2, 3, 4, 5, 6, 7, 8, 9.2;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  b &lt;&lt; 1, 2, 3, 4, 5, 6, 7, 8, 9.1;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  EXPECT_EQ(<span class="keyword">true</span>, <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(a, b, .3));</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  EXPECT_EQ(<span class="keyword">false</span>, <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(a, b, .01));</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;double&gt;</a> qdd(4);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  qdd &lt;&lt; 1, 2, 3, 4;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;double&gt;</a> qdd2 = qdd;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(qdd, qdd2, 1e-6));</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  qdd2(1) += .2;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  EXPECT_FALSE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(qdd, qdd2, 1e-6));</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> testDynamicMat(3, 3);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> testDynamicMat2(3, 3);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  testDynamicMat &lt;&lt; 1, 2, 3, 4, 5, 6, 7, 8, 9.2;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  testDynamicMat2 &lt;&lt; 1, 2, 3, 4, 5, 6, 7, 8, 9.1;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  EXPECT_EQ(<span class="keyword">true</span>, <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(testDynamicMat, testDynamicMat2, .3));</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  EXPECT_EQ(<span class="keyword">false</span>, <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(testDynamicMat, testDynamicMat2, .01));</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
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          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">coordinateRotation&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Check the coordinateRotation algorithm which generates rotaiton matrices for axis rotations </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00054">54</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00060">ori::coordinateRotation()</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                      {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// check rotation matrices</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">double</span> s = std::sin(.2);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">double</span> c = std::cos(.2);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> R_ref_x, R_ref_y, R_ref_z;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  R_ref_x &lt;&lt; 1, 0, 0, 0, c, s, 0, -s, c;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  R_ref_y &lt;&lt; c, 0, -s, 0, 1, 0, s, 0, c;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  R_ref_z &lt;&lt; c, s, 0, -s, c, 0, 0, 0, 1;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  EXPECT_EQ(R_ref_x, <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::X, .2));</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  EXPECT_EQ(R_ref_y, <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, .2));</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  EXPECT_EQ(R_ref_z, <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Z, .2));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div><div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">skew&#160;</td>
          <td class="paramname">&#160;</td>
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          <td>)</td>
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<p>Check the skew functions, which go between vectors and skew-symmetric matrices </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00071">71</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00108">ori::matToSkewVec()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00096">ori::vectorToSkewMat()</a>.</p>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                        {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// check skew vec-&gt;mat and mat-&gt;vec</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> A, B;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  A &lt;&lt; 8, 1, 6, 3, 5, 7, 4, 9, 2;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  B &lt;&lt; 0, -3, 2, 3, 0, -1, -2, 1, 0;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> v(1, 1, 1);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> w(1, 2, 3);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  EXPECT_EQ(<a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(A), v);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  EXPECT_EQ(B, <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(w));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  EXPECT_EQ(w, <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(<a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(w)));</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  EXPECT_EQ(v, <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(<a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(v)));</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_a153f2a76610f0c5524da3f8bf8fa4dfa"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">ori::vectorToSkewMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; vectorToSkewMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00096">orientation_tools.h:96</a></div></div>
<div class="ttc" id="namespaceori_html_a0d9277fde185aecf3eae4a6d6450d25f"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">ori::matToSkewVec</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; matToSkewVec(const Eigen::MatrixBase&lt; T &gt; &amp;m)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00108">orientation_tools.h:108</a></div></div>
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          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">quatToRotm&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Check the quaternion to rotation matrix and rotation matrix to quaternion functions </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00089">89</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>.</p>
<div class="fragment"><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                              {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// check R -&gt; q and q -&gt; R</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q(.9672, -0.0672, -0.1653, -0.1808);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> R;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  R &lt;&lt; .8799, .3720, -.2955, -.3276, .9256, .1898, .3441, -.0702, .9363;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q2 = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R.transpose());</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> R2 = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(q).transpose();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(q2, q, .0001));</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(R2, R, .0001));</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
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<p>Test the quaternion to roll-pitch-yaw conversion </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00103">103</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00185">ori::quatToRPY()</a>.</p>
<div class="fragment"><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                             {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// check q -&gt; rpy</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q(0.9672, -0.0672, -0.1653, -0.1808);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy1(-0.0748, -0.3513, -0.3564);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rpy1, <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">quatToRPY</a>(q), .1));</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
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          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">quatToRpy2&#160;</td>
          <td class="paramname">&#160;</td>
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          <td>)</td>
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<p>Test the quaternion to roll-pitch-yaw conversion direction </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00113">113</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00060">ori::coordinateRotation()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00185">ori::quatToRPY()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>.</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                              {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// check q -&gt; rpy</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, .5);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">quatToRPY</a>(q);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy_ref(0, .5, 0);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rpy, rpy_ref, .00001));</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div><div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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<p>Check that rpy is in roll-pitch-yaw order </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00125">125</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00060">ori::coordinateRotation()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00185">ori::quatToRPY()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                              {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// check q -&gt; rpy</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Z, .5);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">quatToRPY</a>(q);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy_ref(0, 0, 0.5);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rpy, rpy_ref, .00001));</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;}</div><div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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          <td>(</td>
          <td class="paramtype">Orienation&#160;</td>
          <td class="paramname">, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
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<p>Check the quaternion derivative function. This isn't used and probably should be removed </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00138">138</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00240">ori::quatDerivative()</a>.</p>
<div class="fragment"><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                                       {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> ref(-10.8376, -0.6752, -2.5128, -1.3504);</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q =</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#afa58699364d5378139e91ec6f0972475">quatDerivative</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a>(1, 2, 3, 4), <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a>(1, 2, 3));</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(q, ref, .0005));</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_afa58699364d5378139e91ec6f0972475"><div class="ttname"><a href="../../da/d9b/namespaceori.html#afa58699364d5378139e91ec6f0972475">ori::quatDerivative</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; quatDerivative(const Eigen::MatrixBase&lt; T &gt; &amp;q, const Eigen::MatrixBase&lt; T2 &gt; &amp;omega)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00240">orientation_tools.h:240</a></div></div>
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        <tr>
          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">quaternionProduct&#160;</td>
          <td class="paramname">&#160;</td>
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          <td>)</td>
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<p>Check the quaternion product </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00148">148</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00262">ori::quatProduct()</a>.</p>
<div class="fragment"><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                     {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q1(1, 2, 3, 4);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q2(5, 6, 7, 8);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> ref(-60, 12, 30, 24);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(ref, <a class="code" href="../../da/d9b/namespaceori.html#a89494866325446c634184782e56113ff">quatProduct</a>(q1, q2), .0001));</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="namespaceori_html_a89494866325446c634184782e56113ff"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a89494866325446c634184782e56113ff">ori::quatProduct</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; quatProduct(const Eigen::MatrixBase&lt; T &gt; &amp;q1, const Eigen::MatrixBase&lt; T &gt; &amp;q2)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00262">orientation_tools.h:262</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
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          <td class="paramname">, </td>
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        <tr>
          <td class="paramkey"></td>
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<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00155">155</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00060">ori::coordinateRotation()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00262">ori::quatProduct()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                                              {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R1 = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::X, 7.23) *</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, -2.343) *</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Z, 1.2324);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R2 = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Z, .3231) *</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::X, -4.2332) *</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, -3.3213);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R12_ref = R2 * R1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> Q1 = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R1);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> Q2 = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R2);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> Q12 = <a class="code" href="../../da/d9b/namespaceori.html#a89494866325446c634184782e56113ff">quatProduct</a>(Q1, Q2);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> R12 = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(Q12);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(R12, R12_ref, .0001));</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div><div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="namespaceori_html_a89494866325446c634184782e56113ff"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a89494866325446c634184782e56113ff">ori::quatProduct</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; quatProduct(const Eigen::MatrixBase&lt; T &gt; &amp;q1, const Eigen::MatrixBase&lt; T &gt; &amp;q2)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00262">orientation_tools.h:262</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">quaternionIntegration&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Check that the quaternion integration goes in the correct direction </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00178">178</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00060">ori::coordinateRotation()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00283">ori::integrateQuat()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::Y</a>, and <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::Z</a>.</p>
<div class="fragment"><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                                         {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> eye = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;::Identity</a>();</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> omegaX(1, 0, 0);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> omegaY(0, -1, 0);</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> omegaZ(0, 0, 1);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> rot_x_ref = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::X, .1);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> rot_y_ref = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, -.1);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;double&gt;</a> rot_z_ref = <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Z, .1);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> eyeQ = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(eye);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> rot_x_quat = <a class="code" href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">integrateQuat</a>(eyeQ, omegaX, .1);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> rot_y_quat = <a class="code" href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">integrateQuat</a>(eyeQ, omegaY, .1);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> rot_z_quat = <a class="code" href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">integrateQuat</a>(eyeQ, omegaZ, .1);</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  EXPECT_TRUE(</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(<a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(rot_x_quat), rot_x_ref, .0001));</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  EXPECT_TRUE(</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(<a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(rot_y_quat), rot_y_ref, .0001));</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  EXPECT_TRUE(</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(<a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(rot_z_quat), rot_z_ref, .0001));</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div><div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_ac12ecf143879de178929ecaad1714a6a"><div class="ttname"><a href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">ori::integrateQuat</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; integrateQuat(const Eigen::MatrixBase&lt; T &gt; &amp;quat, const Eigen::MatrixBase&lt; T2 &gt; &amp;omega, T3 dt)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00283">orientation_tools.h:283</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">rpyToRotMat&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Check rpy to rotation matrix </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00206">206</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00048">ori::deg2rad()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00185">ori::quatToRPY()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00083">ori::rpyToRotMat()</a>.</p>
<div class="fragment"><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                               {</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpy(<a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(20.), <a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(34.), <a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(160.));</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> R = <a class="code" href="../../da/d9b/namespaceori.html#add867f41c8046a8bba05611e25c8dfcd">rpyToRotMat</a>(rpy);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(R);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpyAgain = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">quatToRPY</a>(q);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rpyAgain, rpy, .001));</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;1: &quot;</span> &lt;&lt; rpy.transpose() &lt;&lt; <span class="stringliteral">&quot;\n2: &quot;</span> &lt;&lt; rpyAgain.transpose()</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}</div><div class="ttc" id="namespaceori_html_add867f41c8046a8bba05611e25c8dfcd"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add867f41c8046a8bba05611e25c8dfcd">ori::rpyToRotMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; rpyToRotMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00083">orientation_tools.h:83</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_abb3365c40bad692ba94734339d8c9df9"><div class="ttname"><a href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">ori::deg2rad</a></div><div class="ttdeci">T deg2rad(T deg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00048">orientation_tools.h:48</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Orientation&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">allOrientationConversions&#160;</td>
          <td class="paramname">&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Check all 6 possible conversions between rotation matrix, quaternion, and rpy </p>

<p>Definition at line <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html#l00219">219</a> of file <a class="el" href="../../d4/d07/test__orientation__tools_8cpp_source.html">test_orientation_tools.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00048">ori::deg2rad()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00185">ori::quatToRPY()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00119">ori::rotationMatrixToQuaternion()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00225">ori::rotationMatrixToRPY()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00201">ori::rpyToQuat()</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00083">ori::rpyToRotMat()</a>.</p>
<div class="fragment"><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                             {</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> refRPY(<a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(20.), <a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(34.), <a class="code" href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">deg2rad</a>(160.));</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="comment">// do all rpy -&gt; conversions</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quatFromRPY = <a class="code" href="../../da/d9b/namespaceori.html#ade40aba34aa5e6b4f82753eb3c63d16a">rpyToQuat</a>(refRPY);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> rFromRPY = <a class="code" href="../../da/d9b/namespaceori.html#add867f41c8046a8bba05611e25c8dfcd">rpyToRotMat</a>(refRPY);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="comment">// do all quat -&gt; conversions</span></div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> rFromQuat = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(quatFromRPY);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpyFromQuat = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">quatToRPY</a>(quatFromRPY);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="comment">// do all r -&gt; conversions</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> rpyFromR = <a class="code" href="../../da/d9b/namespaceori.html#a4a1bdfe61995fc50713a5bba4ccbc8cb">rotationMatrixToRPY</a>(rFromRPY);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quatFromR = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(rFromQuat);</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(refRPY, rpyFromQuat, .0001));</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(refRPY, rpyFromR, .0001));</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rFromQuat, rFromRPY, .0001));</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(quatFromR, quatFromRPY, .0001));</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}<div class="ttc" id="namespaceori_html_add867f41c8046a8bba05611e25c8dfcd"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add867f41c8046a8bba05611e25c8dfcd">ori::rpyToRotMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; rpyToRotMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00083">orientation_tools.h:83</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_ade40aba34aa5e6b4f82753eb3c63d16a"><div class="ttname"><a href="../../da/d9b/namespaceori.html#ade40aba34aa5e6b4f82753eb3c63d16a">ori::rpyToQuat</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rpyToQuat(const Eigen::MatrixBase&lt; T &gt; &amp;rpy)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00201">orientation_tools.h:201</a></div></div>
<div class="ttc" id="namespaceori_html_abb3365c40bad692ba94734339d8c9df9"><div class="ttname"><a href="../../da/d9b/namespaceori.html#abb3365c40bad692ba94734339d8c9df9">ori::deg2rad</a></div><div class="ttdeci">T deg2rad(T deg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00048">orientation_tools.h:48</a></div></div>
<div class="ttc" id="namespaceori_html_a4a1bdfe61995fc50713a5bba4ccbc8cb"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a4a1bdfe61995fc50713a5bba4ccbc8cb">ori::rotationMatrixToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; rotationMatrixToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;R)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00225">orientation_tools.h:225</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
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